2 Answers

This feature is a bad idea for a driver. Filtering based on range does not save bandwidth or processing, so there's no real advantage here. In fact, there's a real disadvantage if you're logging the data and decide later that you really needed all readings less than 0.15m instead.

It's best to create a node that reads the laser scan, changes it, and republishes it on a different topic. You can then log /scan and generate new configurations of /scan_range_filtered when you play back bagfiles.

Comments

First at all, thank you for your replay. I can see that the hokuyo_node has a parameter called 'use_rep_117' it is set true by default, so I guess is to change this value to false with the following command, 'rosparam set use_rep_117 true', right? what do you mean with log /scan?

You can check dynamically reconfigurable parameters of hokuyo_node here. In current version it's not possible. But this feature should be quite easy to add. Just make fork on github and try to code it ;) I guess that any improvements will be highly appreciated.